Trajectory tracking control of mobile robots using the cascaded system theory

Jian Gao, Weisheng Yan, Demin Xu, Mingyong Liu, Ningning Zhao

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

A new nonlinear trajectory tracking controller is proposed for a mobile robot based on the stability theory of cascaded system. To relax the persistency exciting assumption on the reference angular velocity, the whole tracking errors are divided into the cross track error and orientation error subsystem and the forward track error subsystem, not as in the former research. The back-stepping technique is used to derive the global uniformly asymptotical stable controllers for two subsystems. And the global uniformly asymptotical stability of the whole system is proved using the stability theory of cascaded system. Simulation results are presented to demonstrate the effectiveness of proposed method.

Original languageEnglish
Title of host publication2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
Pages6433-6436
Number of pages4
DOIs
StatePublished - 2010
Event2010 8th World Congress on Intelligent Control and Automation, WCICA 2010 - Jinan, China
Duration: 7 Jul 20109 Jul 2010

Publication series

NameProceedings of the World Congress on Intelligent Control and Automation (WCICA)

Conference

Conference2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
Country/TerritoryChina
CityJinan
Period7/07/109/07/10

Keywords

  • Back-stepping
  • Cascaded system
  • Mobile robot
  • Trajectory tracking

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